| Abstract: |  This diploma thesis describes building of topological map for an intelligent robot moving in indoor environment. The solution of the problem has been split into three separated tasks. The first deals with laser data preprocessing and feature extraction. Line segments are detected from data measurements via basic algorithms and these segments are applied to extraction of easily recognized objects such as corners and wall ends. Second task solves the problem of movement control in an unknown environment depending on the already constructed map. For robot control the odometry data and algorithm for wall following is used. Last task deals with algorithm looking for correspondences between objects in existing topological map and actual observed features. The new features are either added into the map or are merged with already existing features. Experimental results were obtained with robotic interface Player and robotic simulator Stage.
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